Spray large skillet with cooking spray; heat over medium heat until hot. Cook falafel over medium heat until browned on the bottom, 2 to 3 minutes. Spray tops of falafel with cooking spray and turn; cook until browned on the bottom, 2 to 3 minutes. Arrange 4 falafel on each plate; serve with Tomato-Cucumber Relish.

For Tomato-Cucumber Relish: Combine tomato, cucumber, yogurt, and mint leaves in small bowl; season to taste with salt and pepper. Makes 1 cup.